Yamaha RCX141, User Manual

Page: 353 / 402

9-
7
9
T
roubleshooting
1. Error Messages
2.11 : ? exceeded shift coord. range
Code : &H020B
Meaning/Cause : Shift coordinate range ? value was exceeded.
Action : 1. Change the operating position of ? value to within the shift
coordinates range.
2. Change shift coordinates range ? value.
2.17 : Arch condition bad
Code
: &H0211
Meaning/Cause
: When target point and arch position data are in mm units, arch
motion is not used on X and Y axes.
Action
: Change to correct arch motion command.
2.18 : RIGHTY now selected
Code
: &H0212
Meaning/Cause
: On SCARA type robots, the arm will now use the right-handed
system for starting Cartesian movement.
Action
: ---
2.19 : LEFTY now selected
Code : &H0213
Meaning/Cause : On SCARA type robots, arm will now use the left-handed system
for starting Cartesian movement.
Action : ---
2.20 : Illegal hand type
Code
: &H0214
Meaning/Cause
: An R-axis hand definition was attempted on a robot not having an
R-axis.
Action
: 1. Change to Y-axis hand definition.
2. Do not use a hand definition.
2.22 : Arm length is 0
Code
: &H0216
Meaning/Cause : When arm length setting is 0 on SCARA type robots, movement
on Cartesian coordinates was attempted.
Action
: 1. Set standard coordinates.
2. Set the arm length parameter.
2.23 : Cannot move (RIGHTY to LEFTY)
Code : &H0217
Meaning/Cause : a. Interpolation movement shifting from the right-handed sys-
tem to the left-handed system was executed with a SCARA
robot.
Action : 1. Check the current hand system and point data hand system
flag.